<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.12"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Os1: /home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/core/optimization_algorithm_with_hessian.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Os1
   &#160;<span id="projectnumber">1</span>
   </div>
   <div id="projectbrief">OrbSlam2 documentado y modificado</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.12 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,'Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('optimization__algorithm__with__hessian_8h_source.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">optimization_algorithm_with_hessian.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="optimization__algorithm__with__hessian_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_OPTIMIZATION_ALGORITHM_WITH_HESSIAN_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="optimization__algorithm_8h.html">optimization_algorithm.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">class </span>Solver;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_with_hessian.html">   39</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html">OptimizationAlgorithmWithHessian</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_optimization_algorithm.html">OptimizationAlgorithm</a></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">explicit</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a1358f3500efe8b95a5af4a1b0edecdf0">OptimizationAlgorithmWithHessian</a>(<a class="code" href="classg2o_1_1_solver.html">Solver</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">solver</a>);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a9cfed4c23f1b09829cf4857cf2213745">~OptimizationAlgorithmWithHessian</a>();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#ae067a9c2961718dc8a37e3b8478b6d01">init</a>(<span class="keywordtype">bool</span> online = <span class="keyword">false</span>);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#af1959727df2b7cf233a171cfed246e9a">computeMarginals</a>(<a class="code" href="classg2o_1_1_sparse_block_matrix.html">SparseBlockMatrix&lt;MatrixXd&gt;</a>&amp; spinv, <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, int&gt; &gt;&amp; blockIndices);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#aa84732c8554039ba0152693837bd1b4a">buildLinearStructure</a>();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a3ceacb3dddb14121b03e0afe7b7cfeaa">updateLinearSystem</a>();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#adadb23f135e037ce760f4415a0f26269">updateStructure</a>(<span class="keyword">const</span> std::vector&lt;HyperGraph::Vertex*&gt;&amp; vset, <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">HyperGraph::EdgeSet</a>&amp; edges);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">   56</a></span>&#160;      <a class="code" href="classg2o_1_1_solver.html">Solver</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">solver</a>() { <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a88a2d1dccee8f7481ece407f2681a151">_solver</a>;}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a655aee24aae72b55f5edafb0a7a15137">setWriteDebug</a>(<span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#aee8fc3dadc8bfbd50409f2e9940cbebd">writeDebug</a>);</div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_with_hessian.html#aee8fc3dadc8bfbd50409f2e9940cbebd">   62</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#aee8fc3dadc8bfbd50409f2e9940cbebd">writeDebug</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a6dd1e4e8dc2d09233c40de02b2c9fe8c">_writeDebug</a>-&gt;<a class="code" href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">value</a>();}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a88a2d1dccee8f7481ece407f2681a151">   65</a></span>&#160;      <a class="code" href="classg2o_1_1_solver.html">Solver</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a88a2d1dccee8f7481ece407f2681a151">_solver</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a6dd1e4e8dc2d09233c40de02b2c9fe8c">   66</a></span>&#160;      <a class="code" href="classg2o_1_1_property.html">Property&lt;bool&gt;</a>* <a class="code" href="classg2o_1_1_optimization_algorithm_with_hessian.html#a6dd1e4e8dc2d09233c40de02b2c9fe8c">_writeDebug</a>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  };</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}<span class="comment">// end namespace</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a88a2d1dccee8f7481ece407f2681a151"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a88a2d1dccee8f7481ece407f2681a151">g2o::OptimizationAlgorithmWithHessian::_solver</a></div><div class="ttdeci">Solver * _solver</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:65</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_af1959727df2b7cf233a171cfed246e9a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#af1959727df2b7cf233a171cfed246e9a">g2o::OptimizationAlgorithmWithHessian::computeMarginals</a></div><div class="ttdeci">virtual bool computeMarginals(SparseBlockMatrix&lt; MatrixXd &gt; &amp;spinv, const std::vector&lt; std::pair&lt; int, int &gt; &gt; &amp;blockIndices)</div><div class="ttdoc">computes the block diagonal elements of the pattern specified in the input and stores them in given S...</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:75</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a655aee24aae72b55f5edafb0a7a15137"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a655aee24aae72b55f5edafb0a7a15137">g2o::OptimizationAlgorithmWithHessian::setWriteDebug</a></div><div class="ttdeci">virtual void setWriteDebug(bool writeDebug)</div><div class="ttdoc">write debug output of the Hessian if system is not positive definite </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:96</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html">g2o::OptimizationAlgorithmWithHessian</a></div><div class="ttdoc">Base for solvers operating on the approximated Hessian, e.g., Gauss-Newton, Levenberg. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:39</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_adadb23f135e037ce760f4415a0f26269"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#adadb23f135e037ce760f4415a0f26269">g2o::OptimizationAlgorithmWithHessian::updateStructure</a></div><div class="ttdeci">virtual bool updateStructure(const std::vector&lt; HyperGraph::Vertex *&gt; &amp;vset, const HyperGraph::EdgeSet &amp;edges)</div><div class="ttdoc">update the structures for online processing </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:91</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_aee8fc3dadc8bfbd50409f2e9940cbebd"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#aee8fc3dadc8bfbd50409f2e9940cbebd">g2o::OptimizationAlgorithmWithHessian::writeDebug</a></div><div class="ttdeci">virtual bool writeDebug() const</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:62</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_aa84732c8554039ba0152693837bd1b4a"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#aa84732c8554039ba0152693837bd1b4a">g2o::OptimizationAlgorithmWithHessian::buildLinearStructure</a></div><div class="ttdeci">virtual bool buildLinearStructure()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:80</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a1358f3500efe8b95a5af4a1b0edecdf0"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a1358f3500efe8b95a5af4a1b0edecdf0">g2o::OptimizationAlgorithmWithHessian::OptimizationAlgorithmWithHessian</a></div><div class="ttdeci">OptimizationAlgorithmWithHessian(Solver *solver)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:38</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a9cfed4c23f1b09829cf4857cf2213745"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a9cfed4c23f1b09829cf4857cf2213745">g2o::OptimizationAlgorithmWithHessian::~OptimizationAlgorithmWithHessian</a></div><div class="ttdeci">virtual ~OptimizationAlgorithmWithHessian()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:45</div></div>
<div class="ttc" id="classg2o_1_1_solver_html"><div class="ttname"><a href="classg2o_1_1_solver.html">g2o::Solver</a></div><div class="ttdoc">Generic interface for a sparse solver operating on a graph which solves one iteration of the lineariz...</div><div class="ttdef"><b>Definition:</b> solver.h:43</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_ae067a9c2961718dc8a37e3b8478b6d01"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#ae067a9c2961718dc8a37e3b8478b6d01">g2o::OptimizationAlgorithmWithHessian::init</a></div><div class="ttdeci">virtual bool init(bool online=false)</div><div class="ttdoc">initialize the solver, called once before the first call to solve() </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_property_html_a76f706f786f6f1ed351f0629b3bbd382"><div class="ttname"><a href="classg2o_1_1_property.html#a76f706f786f6f1ed351f0629b3bbd382">g2o::Property::value</a></div><div class="ttdeci">const T &amp; value() const</div><div class="ttdef"><b>Definition:</b> property.h:56</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a85473a4073c76b1a52cf9cf175e31c45"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a85473a4073c76b1a52cf9cf175e31c45">g2o::OptimizationAlgorithmWithHessian::solver</a></div><div class="ttdeci">Solver * solver()</div><div class="ttdoc">return the underlying solver used to solve the linear system </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:56</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix.html">g2o::SparseBlockMatrix</a></div><div class="ttdoc">Sparse matrix which uses blocks. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix.h:62</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a3ceacb3dddb14121b03e0afe7b7cfeaa"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a3ceacb3dddb14121b03e0afe7b7cfeaa">g2o::OptimizationAlgorithmWithHessian::updateLinearSystem</a></div><div class="ttdeci">virtual void updateLinearSystem()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.cpp:85</div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_with_hessian_html_a6dd1e4e8dc2d09233c40de02b2c9fe8c"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm_with_hessian.html#a6dd1e4e8dc2d09233c40de02b2c9fe8c">g2o::OptimizationAlgorithmWithHessian::_writeDebug</a></div><div class="ttdeci">Property&lt; bool &gt; * _writeDebug</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_with_hessian.h:66</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a5e2970e236c0dcb4eff7c205d7b6b4ae"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a5e2970e236c0dcb4eff7c205d7b6b4ae">g2o::HyperGraph::EdgeSet</a></div><div class="ttdeci">std::set&lt; Edge * &gt; EdgeSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:90</div></div>
<div class="ttc" id="classg2o_1_1_property_html"><div class="ttname"><a href="classg2o_1_1_property.html">g2o::Property&lt; bool &gt;</a></div></div>
<div class="ttc" id="classg2o_1_1_optimization_algorithm_html"><div class="ttname"><a href="classg2o_1_1_optimization_algorithm.html">g2o::OptimizationAlgorithm</a></div><div class="ttdoc">Generic interface for a non-linear solver operating on a graph. </div><div class="ttdef"><b>Definition:</b> optimization_algorithm.h:46</div></div>
<div class="ttc" id="optimization__algorithm_8h_html"><div class="ttname"><a href="optimization__algorithm_8h.html">optimization_algorithm.h</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_08235c883c2d11e586a63e6645937db5.html">Thirdparty</a></li><li class="navelem"><a class="el" href="dir_6238d635334f7e809f450ee18181fd21.html">g2o</a></li><li class="navelem"><a class="el" href="dir_62a53d30c17c36057e41412a1a4f77b8.html">g2o</a></li><li class="navelem"><a class="el" href="dir_b7aaf3f9367a0f07449e9b09401b4637.html">core</a></li><li class="navelem"><a class="el" href="optimization__algorithm__with__hessian_8h.html">optimization_algorithm_with_hessian.h</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.12 </li>
  </ul>
</div>
</body>
</html>
